Automatic travelling method, replenishment position setting method, automatic travelling program, and automatic travelling system

Abstract

To provide an automatic travelling method, a replenishment position setting method, an automatic travelling program, and an automatic travelling system capable of easily setting a material replenishment position of a work vehicle for performing material supply work while travelling automatically to an appropriate position.SOLUTION: A travelling processing part 111 causes a work vehicle 10 to travel automatically according to a target route in a work region. A work processing part 112 causes work for supplying a material to be loaded on the work vehicle 10 in a work region to be performed during automatic travelling. An acquisition processing part 113 acquires a detection result from a material detection part 171 for detecting at least either a residual amount of the material or a consumption amount of the material in the work vehicle 10. A setting processing part 114 sets a replenishment position for replenishing the material to the work vehicle 10 on the basis of the detection result, a starting position for starting travelling or work set for the work region, and a travelling direction in a first travelling route that the work vehicle 10 is travelling at present.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system for causing a work vehicle to automatically drive in a work area while supplying materials. [Background technology]

[0002] There is a known system that automatically drives a work vehicle along a target route in a field while causing a work machine attached to the work vehicle to perform a predetermined task. For example, in a rice transplanter that plants seedlings while automatically driving along a target route, a technology is known in which a user selects one of the sides of the field as a supply side for supplying materials (seedlings), and the supply work of materials is performed at the set supply side (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-108620 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, users must set supply edges in advance, which is time-consuming, and depending on the running conditions of the work vehicle and the consumption status of materials, the supply edges set by the user may not be appropriate.

[0005] An object of the present invention is to provide an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system that can easily set the material supply position of a work vehicle that performs material supply work while automatically driving to an appropriate position. [Means for solving the problem]

[0006] The automatic driving method of the present invention is a method of automatically driving a work vehicle in a work area according to a target route, causing the work vehicle to perform work of supplying materials loaded on the work vehicle to the work area while the work vehicle is automatically driving, obtaining detection results from a detection unit that detects at least one of the remaining amount of materials in the work vehicle and the consumed amount of materials, and setting a supply position to supply the materials to the work vehicle based on the detection results, a starting position set for the work area at which driving or work will begin, and the direction of travel on a first driving route along which the work vehicle is currently driving.

[0007] A supply position setting method according to the present invention is a method for setting a supply position for replenishing materials for a work vehicle that supplies materials to a work area while automatically traveling along a target route in the work area. The supply position setting method executes the following steps in registering the work area: acquiring a travel start position when teaching the work vehicle to travel along the periphery of the work area; and setting the periphery that corresponds to the travel start position as the supply position, from among the peripheries that make up the work area.

[0008] In addition, the automatic driving program of the present invention is a program that causes one or more processors to execute the following operations: automatically driving a work vehicle in a work area according to a target route; performing work to supply materials loaded on the work vehicle to the work area while the work vehicle is automatically driving; obtaining detection results from a detection unit that detects at least one of the remaining amount of materials in the work vehicle and the consumed amount of materials; and setting a supply position to supply the materials to the work vehicle based on the detection results, a starting position set for the work area at which driving or work will begin, and the direction of travel on a first driving route along which the work vehicle is currently traveling.

[0009] The automated driving system according to the present invention also includes a driving processing unit, a work processing unit, an acquisition processing unit, and a setting processing unit. The driving processing unit automatically drives a work vehicle in a work area along a target route. The work processing unit executes the work of supplying materials loaded on the work vehicle to the work area while the work vehicle is automatically driving. The acquisition processing unit acquires detection results from a detection unit that detects at least one of the remaining amount of the materials in the work vehicle and the consumed amount of the materials. The setting processing unit sets a supply position for replenishing the materials to the work vehicle based on the detection results, a start position for starting driving or work set for the work area, and a traveling direction of the work vehicle on a first driving route along which the work vehicle is currently traveling. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an automatic driving method, a supply position setting method, an automatic driving program, and an automatic driving system that can easily set the material supply position of a work vehicle that performs material supply work while driving automatically to an appropriate position. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic driving system according to an embodiment of the present invention. [Figure 2A] FIG. 2A is a side view showing an example of a work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 2B] FIG. 2B is a top view showing an example of the work vehicle (rice transplanter) according to an embodiment of the present invention. [Figure 3] FIG. 3 is a diagram showing an example of a farm field and a target route according to the embodiment of the present invention. [Figure 4] FIG. 4 is a schematic diagram showing an example of a method for registering a farm field according to an embodiment of the present invention. [Figure 5] FIG. 5 is a diagram showing an example of a traveling method of a work vehicle according to an embodiment of the present invention. [Figure 6] FIG. 6 is a diagram showing another example of a traveling method for a work vehicle according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram showing an example of a menu screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 8] FIG. 8 is a diagram showing an example of a farm field measurement screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 9] FIG. 9 is a diagram showing an example of a farm field measurement screen displayed on the operation terminal according to the embodiment of the present invention. [Figure 10] FIG. 10 is a flowchart showing an example of the procedure of a field registration process executed by the automatic driving system according to the embodiment of the present invention. [Figure 11] FIG. 11 is a flowchart showing an example of the procedure of the automatic driving process executed by the automatic driving system according to the embodiment of the present invention. [Figure 12] FIG. 12 is an external view showing the configuration of an operation terminal according to an embodiment of the present invention. [Figure 13] FIG. 13 is a diagram showing another example of a traveling method for a work vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The following embodiment is an example of the present invention and does not limit the technical scope of the present invention.

[0013] 1, an automated driving system 1 according to an embodiment of the present invention includes a work vehicle 10 and an operation terminal 20. The work vehicle 10 and the operation terminal 20 can communicate with each other via a communication network N1. For example, the work vehicle 10 and the operation terminal 20 can communicate with each other via a mobile phone network, a packet network, or a wireless LAN.

[0014] The present invention is applicable to a work vehicle that performs work such as supplying materials to a field. In this embodiment, the work vehicle 10 is described as a rice transplanter. In another embodiment, the work vehicle 10 may be a tractor or the like. The work vehicle 10 is an autonomous vehicle configured to be able to automatically travel (autonomously travel) within a pre-registered field. For example, an operator (user) registers a field to be worked on and sets a travel route (target route) for the work vehicle 10 to automatically travel through the field. The work vehicle 10 automatically travels along a pre-set target route through the field based on position information of the current position of the work vehicle 10 calculated by the positioning unit 16. The work vehicle 10 is also capable of performing predetermined work (for example, planting seedlings) while automatically traveling within the field.

[0015] For example, the work vehicle 10 automatically travels along a target route R in a field F shown in FIG. 3. The field F shown in FIG. 3 includes an inner area Fa and a headland area Fb (outer area), and a ridge A1 (such as a bank) is formed around the outside of the field F. An entrance / exit for the work vehicle 10 is formed in the field F, and the entrance / exit is connected to a road. The road may be a farm road or a public road. For example, the work vehicle 10 travels (manually or automatically) on the road from a predetermined storage location to the field F to perform work. A target route R including multiple work routes is set in advance for the field F. For example, a work route Ra is set in the inner area Fa that travels back and forth in parallel from a travel start position S, and a work route Rb is set in the headland area Fb that travels in a spiral shape (circular travel) around the periphery toward a travel end position G.

[0016] The work vehicle 10 starts automatic travel from a travel start position S, and performs work while traveling back and forth along a work route Ra in the inner area Fa. The work vehicle 10 also performs work while traveling in a circle in the headland area Fb to a travel end position G along a work route Rb.

[0017] Here, the work path Rb in the headland area Fb is set based on the number of work strokes. Fig. 3 shows the work path Rb when the number of work strokes is two, but the number of work strokes on the work path Rb may also be one. On the work path Rb shown in Fig. 3, the work vehicle 10 performs work while traveling around the headland area Fb only two times. The width of the headland area Fb is set to a width according to the number of work strokes. Therefore, when the number of work strokes is two, the width of the headland area Fb is approximately twice the working width of the work vehicle 10.

[0018] The target route R is not limited to the route shown in Fig. 3, but is set appropriately depending on the shape of the field F, the work content, etc. For example, the target route R is set appropriately depending on the number of work strokes in the headland area Fb or the width of the headland area Fb.

[0019] A work vehicle 10 carrying planting materials is loaded with seedlings. The work vehicle 10 plants the seedlings while traveling automatically along a target route R. If the seedlings loaded on the work vehicle 10 run out, the work must be interrupted and the work vehicle 10 must be moved to a designated location to replenish the seedlings. Conventionally, a user pre-sets the edges of a field along which the replenishment work will be performed (supply edges), but this method requires user operation and is time-consuming. Furthermore, depending on the driving conditions of the work vehicle 10 and the consumption status of materials, the replenishment edges set by the user may not be appropriate. In contrast, the automated driving system 1 according to this embodiment can easily set the appropriate replenishment position for the work vehicle 10, which performs material supply work while traveling automatically, as described below. Specific configurations of the work vehicle 10 and the operation terminal 20 are described below.

[0020] [Work vehicle 10] 1, 2A, and 2B, the work vehicle 10 includes a vehicle control device 11, a memory unit 12, a vehicle body unit 13, a work implement 14, a communication unit 15, a positioning unit 16, an obstacle detection unit 17, a material detection unit 171, etc. The vehicle control device 11 is electrically connected to the memory unit 12, the vehicle body unit 13, the work implement 14, the positioning unit 16, the obstacle detection unit 17, the material detection unit 171, etc. The vehicle control device 11 and the positioning unit 16 may be capable of wireless communication.

[0021] First, a rice transplanter, which is an example of work vehicle 10, will be described with reference to Figures 2A and 2B. Figure 2A is a side view of work vehicle 10 (rice transplanter), and Figure 2B is a plan view of work vehicle 10. Work vehicle 10 is equipped with a vehicle body section 13, a pair of left and right front wheels 132, a pair of left and right rear wheels 133, a work implement 14 (planting section), etc.

[0022] An engine (drive unit) 131 is disposed inside a hood 134 disposed at the front of the vehicle body 13. Power generated by the engine 131 is transmitted to front wheels 132 and rear wheels 133 via a transmission case 135. The power transmitted via the transmission case 135 is also transmitted to the work implement 14 via a PTO shaft 37 disposed at the rear of the vehicle body 13. The PTO shaft 37 is configured to transmit power via a planting clutch (work clutch) (not shown). A driver's seat 138 for an operator to sit in is provided between the front wheels 132 and rear wheels 133 in the fore-and-aft direction of the vehicle body 13.

[0023] In front of the driver's seat 138, operating tools such as a steering wheel 137, a main speed change lever (not shown), and a planting clutch lever (not shown) are arranged. The steering wheel 137 is an operating tool for changing the steering angle of the work vehicle 10. The main speed change lever is configured to be able to select at least the positions of "forward," "reverse," "neutral," and "seedling clutch." When the main speed change lever is operated to the "forward" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 forward. When the main speed change lever is operated to the "reverse" position, power is transmitted so that the front wheels 132 and rear wheels 133 rotate in a direction that moves the work vehicle 10 backward. When the main speed change lever is operated to the "neutral" position, power transmission to the front wheels 132 and rear wheels 133 is cut off. When the main speed change lever is operated to the "seedling clutch" position, power transmission to the front wheels 132, rear wheels 133, and PTO shaft 37 is cut off. In addition, by operating the planting clutch lever, the planting clutch can be switched between a transmission state in which it transmits power to the PTO shaft 37 (i.e., the work implement 14) and a disconnection state in which it does not transmit power to the PTO shaft 37 (i.e., the work implement 14).

[0024] The work implement 14 is connected to the rear of the vehicle body 13 via a lifting link mechanism 31. The lifting link mechanism 31 is configured with a parallel link structure including a top link 39 and a lower link 38. A lifting cylinder (lifting device) 32 is connected to the lower link 38. By extending and contracting the lifting cylinder 32, the entire work implement 14 can be raised and lowered. This allows the height of the work implement 14 to be changed between a working position (working height) where the work implement 14 is lowered to perform planting work, and a non-working position (non-working height) where the work implement 14 is not performed by raising the work implement 14. Note that the lifting cylinder 32 is a hydraulic cylinder, but an electric cylinder may also be used. Furthermore, the work implement 14 may be raised and lowered by an actuator other than a cylinder.

[0025] The work machine 14 (planting section) includes a planting input case 33, a plurality of planting units 34, a seedling carrier 35, a plurality of floats 36, and the like.

[0026] Each planting unit 34 is equipped with a planting transmission case 41 and a rotating case 42. Power is transmitted to the planting transmission case 41 via the PTO shaft 37 and the planting input case 33. Each planting transmission case 41 has a rotating case 42 attached to both sides in the vehicle width direction. Two planting claws 43 are attached to each rotating case 42, lined up in the direction of travel of the work vehicle 10. These two planting claws 43 plant one row.

[0027] As shown in FIG. 2A, the seedling carrier 35 is positioned above and in front of the planting unit 34 and is configured to be able to place a seedling mat on it. The seedling carrier 35 is configured to be able to move back and forth laterally (slide laterally). The seedling carrier 35 is also configured to be able to intermittently transport the seedling mat vertically downward at the end of its reciprocating movement. This configuration allows the seedling carrier 35 to supply seedlings from the seedling mat to each planting unit 34. In this way, the work vehicle 10 can sequentially supply seedlings to each planting unit 34, allowing for continuous seedling planting.

[0028] The float 36 shown in FIG. 2A is provided below the work implement 14 and is positioned so that its underside can come into contact with the ground. When the float 36 comes into contact with the ground, the rice field surface is leveled before seedlings are planted. The float 36 is also provided with a float sensor (not shown) that detects the swing angle of the float 36. The swing angle of the float 36 corresponds to the distance between the rice field surface and the work implement 14. The work vehicle 10 can maintain a constant height of the work implement 14 above the ground by operating the lifting cylinder 32 based on the swing angle of the float 36 to raise and lower the work implement 14.

[0029] The spare seedling trays 19 are positioned on the outer side of the hood 134 in the vehicle width direction, and can carry seedling boxes containing spare mat seedlings. The upper parts of the pair of left and right spare seedling trays 19 are connected to each other by a connecting frame 18 that extends vertically and in the vehicle width direction. A positioning unit 16 is located in the center of the connecting frame 18 in the vehicle width direction.

[0030] The positioning unit 16 is a communication device including a positioning control unit 161, a memory unit 162, a communication unit 163, and a positioning antenna 164 (see FIG. 1). For example, the positioning unit 16 is provided at the upper center of the front of the work vehicle 10, as shown in FIGS. 2A and 2B. The installation location of the positioning unit 16 is not limited. Furthermore, the positioning control unit 161, the memory unit 162, the communication unit 163, and the positioning antenna 164 of the positioning unit 16 may be disposed in different locations on the work vehicle 10. A battery is connected to the positioning unit 16, and the positioning unit 16 can operate even when the engine 131 is stopped. Furthermore, the positioning unit 16 may be substituted with, for example, a mobile phone terminal, a smartphone, a tablet terminal, a quantum compass, or the like.

[0031] The positioning control unit 161 is a computer system including one or more processors and storage memories such as nonvolatile memory and RAM. The storage unit 162 is a nonvolatile memory that stores a program for causing the positioning control unit 161 to execute the positioning process, and data such as positioning information and movement information. For example, the program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 162. Note that the program may be downloaded to the positioning unit 16 from a server (not shown) via a communication network N1 and stored in the storage unit 162.

[0032] The communication unit 163 is a communication interface that connects the positioning unit 16 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as a base station server via the communication network N1.

[0033] The positioning antenna 164 is an antenna that receives radio waves (GNSS signals) transmitted from satellites.

[0034] The positioning control unit 161 calculates the current position of the work vehicle 10 based on the GNSS signals received from satellites by the positioning antenna 164. For example, when the work vehicle 10 is autonomously traveling within a field F, the positioning antenna 164 receives radio waves (such as transmission time and orbit information) transmitted from each of a plurality of satellites, and the positioning control unit 161 calculates the distance between the positioning antenna 164 and each satellite, and calculates the current position (latitude and longitude) of the work vehicle 10 based on the calculated distance. The positioning control unit 161 may also perform positioning using a real-time kinematic method (RTK-GNSS positioning method (RTK method)), which calculates the current position of the work vehicle 10 using correction information corresponding to a base station (reference station) close to the work vehicle 10. In this way, the work vehicle 10 performs autonomous traveling using positioning information obtained by the RTK method. The current position of the work vehicle 10 may be the same as the positioning position (for example, the position of the positioning antenna 164), or may be a position displaced from the positioning position (for example, the planting operation position of the planting unit 34). The positioning control unit 161 may calculate (position) the current position of the work vehicle 10 using a quantum compass.

[0035] An obstacle detection unit 17 is provided at the front of the vehicle body 13. The obstacle detection unit 17 is configured with a sensor that detects obstacles in a predetermined detection area using, for example, infrared rays, ultrasound, or the like. For example, the obstacle detection unit 17 may be a lidar sensor (distance sensor) that uses lasers to measure the distance to a measurement object (obstacle) in three dimensions, or a sonar sensor with multiple sonars that uses ultrasound to measure the distance to a measurement object. Examples of the obstacle include a ridge, a water intake, a utility pole, materials temporarily placed in the field F, and a person. When the obstacle detection unit 17 detects the obstacle, it transmits the detection result (measurement information) to the vehicle control device 11. When the obstacle detection unit 17 detects an obstacle in the detection area, the vehicle control device 11 slows down or stops the work vehicle 10. Note that the obstacle detection units 17 may be provided at the front, rear, left side, and right side. In this case, the vehicle control device 11 controls the travel of the work vehicle 10 based on the detection results of each obstacle detection unit 17.

[0036] The material detection unit 171 is equipped with a remaining amount sensor that detects the remaining amount of materials (seedlings) loaded on the work vehicle 10, and a consumption amount sensor that detects the consumed amount of materials (seedlings) discharged from the work vehicle 10. The remaining amount sensor detects, for example, the amount of seedlings loaded on the seedling carrier 35 and the spare seedling carrier 19. The consumption amount sensor detects the amount supplied from the seedling carrier 35 to the planting unit 34. The material detection unit 171 outputs the detection results (remaining amount and consumed amount) of the remaining amount sensor and the consumption amount sensor to the vehicle control device 11. Note that the material detection unit 171 may be equipped with either a remaining amount sensor or a consumption amount sensor. In this case, the material detection unit 171 outputs the remaining amount or consumed amount as the detection result to the vehicle control device 11.

[0037] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory that stores various types of information. The storage unit 12 stores control programs such as an automatic driving program for causing the vehicle control device 11 to execute the automatic driving process (see FIG. 11 ), which will be described later. For example, the automatic driving program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 12. The automatic driving program may be downloaded from a server (not shown) to the work vehicle 10 via the communication network N1 and stored in the storage unit 12. The storage unit 12 may also store route data for a target route R generated in the operation terminal 20.

[0038] The vehicle control device 11 has control devices such as a CPU, ROM, and RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are pre-stored. The RAM is a volatile or non-volatile storage unit that stores various types of information, and is used as temporary storage memory (work area) for the various types of processing executed by the CPU. The vehicle control device 11 controls the work vehicle 10 by having the CPU execute various control programs pre-stored in the ROM or storage unit 12.

[0039] The vehicle control device 11 controls the operation of the work vehicle 10 in response to various user operations on the work vehicle 10. The vehicle control device 11 also executes automatic driving processing for the work vehicle 10 based on the current position of the work vehicle 10 calculated by the positioning unit 16 and a target route R that is set in advance.

[0040] As shown in Fig. 1, the vehicle control device 11 includes various processing units such as a driving processing unit 111, an operation processing unit 112, an acquisition processing unit 113, and a setting processing unit 114. The vehicle control device 11 functions as the various processing units by executing various processes in accordance with the autonomous driving program using the CPU. Some or all of the processing units may be configured with electronic circuits. The autonomous driving program may be a program for causing multiple processors to function as the processing units.

[0041] The driving processing unit 111 controls the driving of the work vehicle 10. Specifically, the driving processing unit 111 causes the work vehicle 10 to automatically drive according to a target route R set in the field F. For example, the driving processing unit 111 causes the work vehicle 10 to start automatic driving when it receives a driving start instruction from the operation terminal 20. For example, when the current position of the work vehicle 10 is in a position that satisfies the driving start conditions, and the operator presses the start button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving start instruction to the work vehicle 10. When the driving processing unit 111 receives the driving start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic driving according to the target route R. For example, the driving processing unit 111 causes the work vehicle 10 to drive straight from the start end to the end end of each work route, and to drive in a turn from the start end to the end end of each turning route.

[0042] 3, an operator gets into work vehicle 10 and manually drives it along a road (e.g., a farm road), enters field F from an entrance / exit, and moves work vehicle 10 to the vicinity of travel start position S. When the current position of work vehicle 10 satisfies the travel start conditions and the operator issues a travel start command, travel processing unit 111 automatically drives work vehicle 10 from travel start position S to travel end position G according to target route R.

[0043] Furthermore, the driving processing unit 111 stops the automatic driving of the work vehicle 10 when it receives a driving stop instruction from the operation terminal 20. For example, when the operator presses the pause button on the operation screen of the operation terminal 20, the operation terminal 20 outputs a driving stop instruction to the work vehicle 10.

[0044] Furthermore, the driving processing unit 111 controls the driving of the work vehicle 10 based on the detection results by the obstacle detection unit 17. Specifically, when the obstacle detection unit 17 detects an obstacle, the driving processing unit 111 slows down or stops the work vehicle 10. Furthermore, the driving processing unit 111 may cause the work vehicle 10 to perform avoidance driving to avoid the obstacle.

[0045] The work processing unit 112 performs work (planting work) to supply materials (seedlings) loaded on the work vehicle 10 to the field F while the work vehicle 10 is automatically traveling. For example, when the work vehicle 10 reaches the start of the work path or a predetermined position just before the start, the work processing unit 112 lowers the work implement 14 to the work position and starts driving the work implement 14. Specifically, the work processing unit 112 engages the planting clutch and starts driving the work implement 14, thereby starting the planting operation (the operation of the planting unit 34 to plant seedlings in the rice field surface).

[0046] Furthermore, when the work vehicle 10 reaches the end of the work path, the work processing unit 112 raises the work implement 14 to a non-working position and stops the drive of the work implement 14. Specifically, the work processing unit 112 stops the planting operation by disengaging the planting clutch and stopping the drive of the work implement 14. When the work implement 14 rises to the non-working position, the travel processing unit 111 causes the work vehicle 10 to travel in a turning motion along the turning path. In this way, the work processing unit 112 controls the drive of the work implement 14 according to the positions of the start and end of the work path to carry out the planting operation.

[0047] The work vehicle 10 performs planting operations on each work route while automatically traveling along the target route R shown in FIG.

[0048] The acquisition processing unit 113 acquires detection results from the material detection unit 171, which detects at least one of the remaining amount of materials (seedlings) and the consumed amount of materials in the work vehicle 10. In this embodiment, the acquisition processing unit 113 acquires detection results of both the remaining amount and the consumed amount from the material detection unit 171. When the work vehicle 10 starts autonomous driving, the acquisition processing unit 113 acquires the detection results in real time at a predetermined cycle while the work vehicle 10 is autonomously driving.

[0049] The setting processing unit 114 sets a location (supply position) where supply work to supply materials (seedlings) to the work vehicle 10 will be performed. Specifically, the setting processing unit 114 sets a supply position where seedlings will be supplied to the work vehicle 10 based on the detection results acquired by the acquisition processing unit 113, the start position where travel or work will begin that is set for the field F, and the traveling direction of the travel route (first travel route of the present invention) on which the work vehicle 10 is currently traveling. Note that the supply position is not limited to a location where supply work to supply materials to the work vehicle 10 will actually be performed, but also includes a location in the vicinity of the location where the operator can fine-tune the position of the work vehicle 10 by manual steering after the automatic travel of the work vehicle 10 has stopped.

[0050] For example, the setting processing unit 114 determines whether there is a shortage of materials (seedlings) remaining on the work vehicle 10 based on the detection results. The setting processing unit 114 determines that there is a shortage of seedlings when the remaining amount falls below a predetermined amount. The setting processing unit 114 also determines that there is a shortage of seedlings when the consumption amount exceeds a predetermined amount. Note that the setting processing unit 114 may determine that there is a shortage of seedlings when the remaining amount falls below a predetermined amount or when the consumption amount exceeds a predetermined amount, or may determine that there is a shortage of seedlings when the remaining amount falls below a predetermined amount and the consumption amount exceeds a predetermined amount.

[0051] The setting processing unit 114 may also determine whether there is a shortage of seedlings in the amount required for planting operations on multiple work routes. For example, the setting processing unit 114 determines that there is no shortage of seedlings when the current remaining amount of seedlings is equal to or greater than the amount of two work routes (one round trip), and determines that there is a shortage of seedlings when the remaining amount is less than the amount of two work routes (one round trip). The determination threshold may be equal to one work route (one way). In another embodiment, the setting processing unit 114 may calculate the consumption amount per unit length of the completed work route (already traveled route), and calculate the consumption amount of materials for the next work route (work route of the next step) based on the consumption amount per unit length, thereby making a determination on the remaining amount (determining whether there is a shortage of remaining materials).

[0052] Furthermore, the setting processing unit 114 determines whether the position of the start edge set in accordance with the start position is on the forward direction side of the travel route on which the work vehicle 10 is currently traveling. Here, the start position is, for example, a travel start position (teaching travel start position) when the work vehicle 10 is made to perform teaching travel along the periphery of the field F in the work of registering the field F (details will be described later), a start position of automatic travel set in advance for the field F (automatic travel start position), or a start position of work set in advance for the field F (work start position). The start position is set in advance in accordance with a setting operation by the operator on the operation terminal 20. For example, the operator performs the work of registering information on the field F, information on the work, information on the target route R, etc. on the operation terminal 20. The operation terminal 20 sets the start position based on this registration information. Furthermore, when the start position is set, the operation terminal 20 registers the edge corresponding to the start position (start edge).

[0053] FIG. 4 shows a specific example of the process for registering a field F. The operator gets into the work vehicle 10 and drives it around the periphery of a predetermined area F0. The operation terminal 20 registers the outline of the area F0 (field F) by recording the transition of information on a specific position (for example, the position of the side edge of the work vehicle 10) based on the positioning information of the work vehicle 10 at that time. The operation terminal 20 acquires the start position (teaching travel start position S0) of the teaching travel route Rt that the operator has performed teaching travel, and identifies the side corresponding to the teaching travel start position S0. For example, the operation terminal 20 identifies the side of the periphery of the field F that is closest to the teaching travel start position S0. Note that if there are multiple sides close to the teaching travel start position S0, the operation terminal 20 identifies the side that extends facing the road (road side). In the example shown in FIG. 4, the operation terminal 20 identifies the bottom side L1 of the peripheries L1 to L4. The operation terminal 20 sets the identified side (here, the bottom side L1) as the start side and registers it in association with the field F and the target route R. The operation terminal 20 identifies the road side based on, for example, the vehicle travel direction after the start of teaching travel, the distance the vehicle travels in the same travel direction, and the fluctuation (amplitude) of the travel trajectory in the left-right direction relative to the vehicle travel direction. The above parameter thresholds may be set in advance. The operation terminal 20 may also identify the road side based on a selection operation by the operator (an operation to select a road side from the field sides).

[0054] In this way, the start position and the start edge are registered in advance in the operation terminal 20, and after the work vehicle 10 starts automatic traveling, the setting processing unit 114 determines whether or not the position of the start edge is on the forward direction side of the traveling route on which the work vehicle 10 is currently traveling. Then, when the setting processing unit 114 determines that there is a shortage of materials (seedlings) remaining on the work vehicle 10, it decides whether or not to carry out supply work based on whether or not the position of the start edge is on the forward direction side of the traveling route on which the work vehicle 10 is currently traveling.

[0055] For example, if the setting processing unit 114 determines that there are insufficient seedlings remaining on the work vehicle 10, and the work vehicle 10 is traveling on work route Ra1 as shown in FIG. 5, the starting side (bottom side L1) will be on the opposite side to the direction of travel of the work vehicle 10. For this reason, the setting processing unit 114 will not perform supply work. In this case, the travel processing unit 111 continues automatic travel and planting operations on work route Ra1, and when work on work route Ra1 is completed, moves to the next work route Ra2. Note that the setting processing unit 114 determines that there are insufficient seedlings when the remaining amount of seedlings is less than the amount needed to make one round trip on the work route, so the work vehicle 10 can continue planting operations at least until the end of the work route Ra1.

[0056] FIG. 6 shows a state in which the work vehicle 10 has finished work on work route Ra1 and has started work on work route Ra2. Here, when the setting processing unit 114 determines that there are insufficient seedlings remaining on the work vehicle 10, the work vehicle 10 is traveling on work route Ra2, so the start edge (bottom edge L1) is on the direction of travel of the work vehicle 10. In this case, the setting processing unit 114 performs supply work. Specifically, the setting processing unit 114 sets a supply position P2 on the start edge (bottom edge L1). In this way, when the setting processing unit 114 determines that there are insufficient materials remaining on the work vehicle 10 based on the detection results, and the start edge (bottom edge L1) corresponding to the start position is on the direction of travel, it sets a supply position P2 on the start edge (bottom edge L1).

[0057] The setting processing unit 114 also sets a supply position P2 on an extension of the current travel route in the outer periphery of the field F. For example, as shown in Fig. 6, the setting processing unit 114 sets the supply position P2 on an extension of the work route Ra2 on the lower side L1.

[0058] Furthermore, if the setting processing unit 114 determines based on the detection results that there is a shortage of materials remaining on the work vehicle 10 and the start side (bottom side L1) corresponding to the start position is on the traveling direction side, it sets the end of the current travel route as the supply preparation point P1 and causes the work vehicle 10 to travel from the supply preparation point P1 to the supply position P2. In the example shown in FIG. 6, the setting processing unit 114 sets the end of the currently traveling work route Ra2 as the supply preparation point P1. Note that in the example shown in FIG. 5, the start side (bottom side L1) is on the opposite side to the traveling direction of the work vehicle 10 traveling on the work route Ra1, so the setting processing unit 114 does not perform processing to set the supply preparation point P1.

[0059] When the setting processing unit 114 sets the supply preparation point P1 and the supply position P2, it generates a supply route Rh connecting the supply preparation point P1 and the supply position P2. The travel processing unit 111 causes the work vehicle 10 to travel along the supply route Rh. For example, when the work vehicle 10 reaches the end of the work route Ra2 (supply preparation point P1), the travel processing unit 111 stops the automatic travel of the work vehicle 10, and the work processing unit 112 stops the planting operation. Thereafter, in response to the operation of the operator, the setting processing unit 114 causes the work vehicle 10 to travel along the supply route Rh from the supply preparation point P1 to the supply position P2. For example, when the operator goes to the stopping location of the work vehicle 10 and performs travel operation using the operation remote control, the travel processing unit 111 causes the work vehicle 10 to travel along the supply route Rh. Note that the operator may also get on the work vehicle 10 at the supply preparation point P1 and drive it using manual steering.

[0060] In another embodiment, the travel processing unit 111 may automatically travel the work route Ra2 and the supply route Rh continuously without stopping the work vehicle 10 at the supply preparation point P1. In this case, the setting processing unit 114 may omit the process of setting the supply preparation point P1.

[0061] When the work vehicle 10 reaches the supply position P2, the travel processing unit 111 stops the work vehicle 10. Then, the work of supplying seedlings to the work vehicle 10 is performed. When the seedling supply work is completed, the travel processing unit 111 moves the work vehicle 10 to the work route and resumes the planting operation. For example, if the planting work on work route Ra2 has been completed, the travel processing unit 111 moves the work vehicle 10 to the start of the next work route Ra3 and initiates automatic travel and planting operation on work route Ra3. Furthermore, if the planting work on work route Ra2 has not been completed, for example, the travel processing unit 111 moves the work vehicle 10 to the position where the planting work on work route Ra2 was interrupted and resumes automatic travel and planting operation on work route Ra2.

[0062] In this way, whenever a shortage of materials occurs while the work vehicle 10 is traveling along the work route and performing planting operations, the setting processing unit 114 sets the supply preparation point P1 and supply position P2 based on the direction of travel at that time and carries out the supply work.

[0063] [Operation terminal 20] 1, the operation terminal 20 is an information processing device including an operation control unit 21, a storage unit 22, an operation display unit 23, and a communication unit 24. The operation terminal 20 may be configured as a mobile terminal such as a tablet terminal, a smartphone, or a remote control.

[0064] The communication unit 24 is a communication interface that connects the operation terminal 20 to the communication network N1 via a wired or wireless connection and performs data communication in accordance with a predetermined communication protocol with external devices such as one or more work vehicles 10 via the communication network N1.

[0065] The operation display unit 23 is a user interface that includes a display unit such as a liquid crystal display or organic EL display that displays various types of information, and an operation unit such as a touch panel, mouse, or keyboard that accepts operations. The operator can operate the operation unit on the operation screen displayed on the display unit to register various types of information (such as work vehicle information, field information, and work information, which will be described later). For example, the operator operates the operation unit to register the field F to be worked on.

[0066] The operator can also operate the operation unit to give instructions to start and stop traveling to the work vehicle 10. Furthermore, the operator can grasp the traveling status of the work vehicle 10, which is automatically traveling through the field F according to the target route R, from the traveling trajectory displayed on the operation terminal 20, while in a location away from the work vehicle 10.

[0067] The storage unit 22 is a non-volatile storage unit such as an HDD, SSD, or flash memory that stores various types of information. The storage unit 22 stores a control program for causing the operation control unit 21 to execute various processes of a field registration program that causes the operation control unit 21 to execute a field registration process (see FIG. 10 ), which will be described later. For example, the field registration program is non-temporarily recorded on a computer-readable recording medium such as a flash ROM, EEPROM, CD, or DVD, and is read by a predetermined reading device (not shown) and stored in the storage unit 22. The field registration program may also be downloaded to the operation terminal 20 from a server (not shown) via the communication network N1 and stored in the storage unit 22.

[0068] Furthermore, a dedicated application for automatically driving the work vehicle 10 is installed in the memory unit 22. The operation control unit 21 starts up the dedicated application to perform processing for setting various information related to the work vehicle 10, processing for generating a target route R for the work vehicle 10, and issuing instructions for automatic driving to the work vehicle 10.

[0069] The storage unit 22 also stores data such as work vehicle information, which is information relating to the work vehicle 10, and target route information, which is information relating to the target route R. The work vehicle information includes information such as the vehicle number and model for each work vehicle 10. The vehicle number is identification information for the work vehicle 10. The model is the model of the work vehicle 10.

[0070] Furthermore, the storage unit 22 may store the work vehicle information for one work vehicle 10, or may store the work vehicle information for multiple work vehicles 10. For example, if a specific operator owns multiple work vehicles 10, the work vehicle information for each work vehicle 10 is stored in the storage unit 22.

[0071] The target route information includes information such as the route name, field name, address, field area, and work time for each target route R. The route name is the route name of the target route R generated in the operation terminal 20. The field name is the name of the field F that is the work target for which the target route R is set. The address is the address of the field F, and the field area is the area of ​​the field F. The work time is the time required for the work vehicle 10 to work in the field F.

[0072] Furthermore, the storage unit 22 may store the target route information for one target route R, or may store the target route information for multiple target routes R. For example, if a specific operator generates multiple target routes R for one or multiple fields F that he or she owns, the target route information for each target route R is stored in the storage unit 22. Note that one target route R, or multiple target routes R, may be set for one field F.

[0073] In another embodiment, some or all of the information such as the work vehicle information and the target route information may be stored in a server accessible from the operation terminal 20. The operator may perform an operation to register the work vehicle information and the target route information in the server (for example, a personal computer, a cloud server, etc.).

[0074] The operation control unit 21 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various types of arithmetic processing. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS that cause the CPU to execute various types of arithmetic processing are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various types of information and is used as temporary storage memory for the various types of processing executed by the CPU. The operation control unit 21 controls the operation terminal 20 by having the CPU execute various control programs that are stored in advance in the ROM or the storage unit 22.

[0075] 1, the operation control unit 21 includes various processing units such as a setting processing unit 211 and an output processing unit 212. The operation control unit 21 functions as the various processing units by executing various processes in accordance with the control program using the CPU. Some or all of the processing units may be configured with electronic circuits. The control program may be a program for causing multiple processors to function as the processing units.

[0076] The setting processing unit 211 sets various setting information for causing the work vehicle 10 to perform autonomous driving. Specifically, the setting processing unit 211 sets information relating to the work vehicle 10 (hereinafter referred to as work vehicle information). The setting processing unit 211 sets information such as the type (model) of the work vehicle 10, the position where the positioning antenna 164 is attached on the work vehicle 10, the type of work implement 14, the size and shape of the work implement 14, the position of the work implement 14 relative to the work vehicle 10, the vehicle speed (straight-line vehicle speed) and engine rotation speed of the work vehicle 10 while working, and the vehicle speed (turning vehicle speed) and engine rotation speed of the work vehicle 10 while turning by having the operator perform a registration operation on the operation terminal 20.

[0077] For example, the setting processing unit 211 causes the operation display unit 23 to display the menu screen D1 shown in Fig. 7. The worker selects, for example, "Work machine registration" on the menu screen D1 to register work machine information related to the work machine 14.

[0078] The setting processing unit 211 also sets information relating to the field F (hereinafter referred to as field information). The setting processing unit 211 sets information such as the position and shape of the field F, the travel start position S where automatic travel begins and the travel end position G where automatic travel ends (see FIG. 3), the work direction, etc., by performing a registration operation on the operation terminal 20. For example, the operator registers the field information by selecting "Register field" on the menu screen D1.

[0079] Information on the position and shape of the field F can be automatically obtained, for example, by having an operator get on the work vehicle 10 and drive it around the perimeter of the field F, and recording the progress of information on a specific position (for example, the position of the side end of the work vehicle 10) based on the positioning information of the work vehicle 10 at that time. A specific example of field registration will be described below.

[0080] When the setting processing unit 211 receives an operation from the operator to select "Register field" on the menu screen D1, it transitions to a field registration mode for registering a field. When the setting processing unit 211 transitions to the field registration mode, it causes a field measurement screen (not shown) to be displayed on the operation display unit 23. The operator selects "Start measurement" on the field measurement screen to perform teaching travel. Specifically, as shown in FIG. 4, the operator gets into the work vehicle 10 and drives it around the perimeter of the area F0 to be registered. The operator starts driving near the entrance / exit of the area F0.

[0081] The setting processing unit 211 acquires position information of the work vehicle 10 traveling in a predetermined area F0 in response to the operator's traveling operation. Specifically, while the operator is driving the work vehicle 10, the positioning unit 16 calculates the current position of the work vehicle 10 at predetermined intervals and transmits position information of the calculated current position to the operation terminal 20.

[0082] When the setting processing unit 211 acquires the position information from the work vehicle 10, it records the position information as a travel trajectory of the work vehicle 10 within the predetermined area F0 in the storage unit 22. The setting processing unit 211 records the position information in the storage unit 22 every time it acquires it.

[0083] Furthermore, the setting processing unit 211 displays on the map on the field measurement screen D2 (see FIG. 8) the position where teaching travel started (teaching travel start position S0) and positions (measurement points) corresponding to the position information (each circle in FIG. 8), and also displays a message ("Measuring") indicating that recording processing to record the position information is in progress. This allows the operator to know that the position information of the work vehicle 10 has been successfully acquired and that recording processing is being performed.

[0084] When the operator completes the perimeter travel (teaching travel), he / she presses the "Measurement Complete" button on the field measurement screen D2. When the operator presses the "Measurement Complete" button, the setting processing unit 211 displays the field registration screen D3 shown in FIG. 9. On the field registration screen D3, the setting processing unit 211 displays on a map the positions corresponding to all the position information acquired during the perimeter travel, as well as an area of ​​a shape recognized based on the position information. Furthermore, the setting processing unit 211 identifiably displays on the map a side corresponding to the start position of the teaching travel (start side). Note that if there are multiple sides close to the teaching travel start position S0, the setting processing unit 211 identifies and displays the side extending along the road (road side) as the start side. Note that the setting processing unit 211 identifies the road side based on the vehicle traveling direction after the start of teaching travel, the vehicle travel distance in the same traveling direction, the fluctuation (amplitude) of the travel trajectory in the left-right direction relative to the vehicle traveling direction, the operator's selection operation, etc. In another embodiment, the setting processing unit 211 may specify, as the start side, a side of the inner area Fa that extends in a direction perpendicular to the working direction.

[0085] Furthermore, the setting processing unit 211 may accept an operation to change the position of the start side from the operator on the field registration screen D3 shown in Fig. 9. When the operator presses the "Register" button on the field registration screen D3, the setting processing unit 211 registers the area F0 as the field F and also registers the start side (here, the bottom side L1 (see Fig. 4)).

[0086] In this way, the setting processing unit 211 registers the field F and the start side based on the position information acquired from the work vehicle 10 by teaching travel. In another embodiment, when the operator specifies on the field registration screen D3 a position where the work vehicle 10 is to start automatic travel, the setting processing unit 211 may identify and register the start side based on the specified position (automatic travel start position). Furthermore, when the operator specifies on the field registration screen D3 a position where the work vehicle 10 is to start planting work, the setting processing unit 211 may identify and register the start side based on the specified position (work start position).

[0087] The setting processing unit 211 also sets information relating to how the work will be carried out specifically (hereinafter referred to as work information). The setting processing unit 211 is configured to be able to set, as work information, whether or not cooperative work will occur between an unmanned work vehicle 10 and a manned work vehicle 10, the number of skips which is the number of work routes the work vehicle 10 will skip when turning on a headland, the width of the headland, and the width of the non-cultivated land. For example, the worker registers work information by selecting "Register work area" on the menu screen D1.

[0088] The setting processing unit 211 also generates a target route R, which is a route along which the work vehicle 10 will automatically travel, based on each of the setting information. The target route R is, for example, a travel route from a travel start position S to a travel end position G (see FIG. 3). The target route R shown in FIG. 3 includes a work route, which is a straight route along which the work vehicle 10 travels back and forth in parallel in the inner area Fa of the field F, and a turning route connecting the work routes, and also includes a work route, which is a straight route along which the work vehicle 10 travels in a circular motion in the headland area Fb, and a turning route connecting the work routes. The setting processing unit 211 generates and stores the target route R for the work vehicle 10 based on each of the setting information. For example, the worker selects "Create route" on the menu screen D1 to issue an instruction to generate the target route R. The setting processing unit 211 is capable of generating and storing multiple target routes R for one field F according to the work content.

[0089] The output processing unit 212 outputs route data of the target route R to the work vehicle 10. For example, when the operator selects the desired target route R on the operation screen and issues a command to start work, the output processing unit 212 outputs the route data of the selected target route R to the work vehicle 10. Note that the route data includes information about the start side. In the example described above, the output processing unit 212 outputs information about the bottom side L1 of the field F (see FIG. 9).

[0090] The work vehicle 10 is configured so that route data of the target route R generated in the operation terminal 20 is transferred to the work vehicle 10 and stored in the memory unit 12, and the current position of the work vehicle 10 is detected by the positioning antenna 164, allowing the work vehicle 10 to travel autonomously along the target route R. The current position of the work vehicle 10 may or may not coincide with the position of the positioning antenna 164.

[0091] When predetermined start conditions are met and the operator presses the work start button on the operation screen to give a work start instruction, the work vehicle 10 starts automatic driving by the driving processing unit 111 of the work vehicle 10 and starts planting operations by the work implement 14. For example, the operation control unit 21 allows the work vehicle 10 to drive automatically on the condition that the current position of the work vehicle 10 is within a predetermined distance from the driving start position S and the vehicle heading is within a predetermined heading. Note that the start conditions for allowing the work vehicle 10 to drive automatically are not limited to the above conditions.

[0092] The vehicle control device 11 of the work vehicle 10 automatically drives the work vehicle 10 from a driving start position S to a driving end position G according to a target route R acquired from the operation terminal 20. Furthermore, when there is a shortage of materials (seedlings) remaining on the work vehicle 10, the vehicle control device 11 sets a supply preparation point P1 and a supply position P2 if the start side (bottom side L1) is on the direction of travel of the work vehicle 10, and drives the work vehicle 10 from the supply preparation point P1 to the supply position P2 to perform supply work (see FIG. 6). For example, in the example shown in FIG. 6, when the work vehicle 10 drives the work route Ra2, the vehicle control device 11 sets a supply position P2 on an extension of the work route Ra2, and automatically drives the work vehicle 10 from the end of the work route Ra2 to the supply position P2.

[0093] For example, if the vehicle control device 11 predicts that there will be a shortage of materials on one or more work routes following a work route while the work vehicle 10 is traveling on the work route, and the starting edge corresponding to the starting position is on the forward side of the work route on which the work vehicle 10 is currently traveling, the vehicle control device 11 sets the position on the forward side as a supply position P2 and causes the work vehicle 10 to travel to the supply position P2.

[0094] The operation terminal 20 may be able to access a website (agricultural support site) for an agricultural support service provided by a server (not shown) via the communication network N1. In this case, the operation terminal 20 can function as an operation terminal for the server by executing a browser program by the operation control unit 21. The server is provided with the above-mentioned processing units and executes each process.

[0095] [Field registration process] An example of the farm field registration process executed by the automatic driving system 1 will be described below with reference to FIG.

[0096] The present invention can be understood as a field registration method that executes one or more steps included in the field registration process. One or more steps included in the field registration process described here may be omitted as appropriate. The steps in the field registration process may be executed in a different order as long as the same effects are achieved. While the description here uses an example in which the operation control unit 21 executes each step in the field registration process, another possible embodiment of the field registration method is one in which one or more processors execute each step in the field registration process in a distributed manner.

[0097] In step S1, the operation control unit 21 determines whether or not a start operation to start registering a field has been received from the operator. If the operation control unit 21 receives the start operation (S1: Yes), the operation control unit 21 transitions the process to step S2. The operation control unit 21 waits until the start operation is received (S1: No). For example, when the operator selects "Field registration" on the menu screen D1 (see FIG. 7), the operation control unit 21 receives the start operation. If the operation control unit 21 receives the start operation, the operation control unit 21 displays the field measurement screen D2 (see FIG. 8).

[0098] In step S2, the operation control unit 21 determines whether or not a measurement start operation (teaching start operation) has been received from the operator. If the measurement start operation is received (S2: Yes), the operation control unit 21 transitions the process to step S3. The operation control unit 21 waits until the measurement start operation is received (S2: No). For example, when the operator selects "Start measurement" (not shown) on the field measurement screen D2, the operation control unit 21 receives the measurement start operation. If the measurement start operation is received, the operation control unit 21 permits manual driving by the operator. The operator gets on the work vehicle 10 and starts teaching driving, which involves driving around the periphery of the area F0 (see FIG. 4) to be registered.

[0099] In step S3, the operation control unit 21 starts processing to acquire position information of the work vehicle 10. Specifically, when the work vehicle 10 starts traveling in response to operation by the operator, the positioning unit 16 transmits position information of the current position of the work vehicle 10 to the operation terminal 20. The operation control unit 21 starts processing to acquire position information from the work vehicle 10 at a predetermined cycle.

[0100] Next, in step S4, the operation control unit 21 stores the position information acquired from the work vehicle 10 while the work vehicle 10 is traveling during teaching travel in the memory unit 22. The operation control unit 21 also acquires the position where teaching travel started (teaching travel start position S0) from the work vehicle 10 and stores it in the memory unit 22. During teaching travel, the operation control unit 21 displays the teaching travel start position S0 and measurement points on a map on the field measurement screen D2 (see FIG. 8).

[0101] In step S5, the operation control unit 21 determines whether or not a measurement end operation (teaching end operation) has been received from the operator. If the operation control unit 21 receives the measurement end operation (S5: Yes), the operation control unit 21 transitions the process to step S6. The operation control unit 21 repeats the position information acquisition process (S4) until the measurement end operation is received (S5: No). For example, when the operator presses the "measurement complete" button on the field measurement screen D2, the operation control unit 21 receives the measurement end operation. If the measurement end operation is received, the operation control unit 21 displays the field registration screen D3 shown in FIG. 9.

[0102] In step S6, the operation control unit 21 determines whether or not a field registration operation has been accepted from the operator. If the operation control unit 21 accepts the field registration operation (S6: Yes), the operation control unit 21 proceeds to step S7. The operation control unit 21 repeats the processes of steps S2 to S5 until the field registration operation is accepted (S6: No). For example, when the operator presses the "Register" button on the field registration screen D3, the operation control unit 21 accepts the field registration operation.

[0103] In step S7, the operation control unit 21 registers the field. Specifically, the operation control unit 21 registers an area (see FIG. 9) having a shape recognized based on the position information as the field F. The operation control unit 21 also registers a side (start side) corresponding to the start position of teaching travel (teaching travel start position S0). In the above example, the operation control unit 21 registers the bottom side L1 (see FIG. 4) as the start side.

[0104] In this way, the operation control unit 21 registers the field F based on the operation of the operator. Furthermore, when the operation control unit 21 registers the field F, it generates a target route R (see FIG. 3) along which the work vehicle 10 will travel automatically. Furthermore, when the operation control unit 21 causes the work vehicle 10 to travel automatically, it outputs route data including the target route R and information about the start side to the work vehicle 10. Upon acquiring the route data, the work vehicle 10 starts automatic traveling in response to the operation of the operator. As a result, the work vehicle 10 performs a predetermined task (for example, planting work) while automatically traveling along the target route R in the field F (see FIG. 3) from a travel start position S to a travel end position G.

[0105] Here, the start side registered in the field registration process is set as a location (supply position) where supplies (for example, seedlings) to be supplied to the field F during planting work are supplied to the work vehicle 10.

[0106] As described above, the operation control unit 21 according to this embodiment executes a supply position setting method for setting a supply position for replenishing materials for the work vehicle 10 that supplies materials to the field F while automatically traveling along the target route R in the field F. Specifically, the operation control unit 21 acquires the travel start position (teaching travel start position S0) when teaching the work vehicle 10 to travel along the perimeter of the field F in the operation of registering the field F, and sets the perimeter that corresponds to the travel start position out of the perimeter that makes up the field F as the supply position.

[0107] According to the above configuration, the supply position can be automatically set simply by registering the field F (teaching travel). Therefore, the operator does not need to select and set the supply position, which improves convenience.

[0108] [Automatic driving processing] Hereinafter, an example of the automatic driving process executed by the automatic driving system 1 will be described with reference to FIG.

[0109] The present invention can be understood as an invention of an automatic driving method that executes one or more steps included in the automatic driving process. Furthermore, one or more steps included in the automatic driving process described herein may be omitted as appropriate. The steps in the automatic driving process may be executed in a different order as long as the same effects are achieved. Furthermore, while the description here uses an example in which the vehicle control device 11 executes each step in the automatic driving process, another embodiment can also be an automatic driving method in which one or more processors execute each step in the automatic driving process in a distributed manner.

[0110] In step S11, the vehicle control device 11 determines whether the work vehicle 10 is in a state where it can drive autonomously. If the work vehicle 10 satisfies the conditions for starting autonomous driving at the driving start position S (see FIG. 3) (S11: Yes), the vehicle control device 11 transitions the processing to step S12. The vehicle control device 11 waits until the work vehicle 10 satisfies the conditions for starting autonomous driving (S11: No).

[0111] In step S12, the vehicle control device 11 causes the work vehicle 10 to start automatic traveling. For example, when the operator issues a traveling start instruction on the operation screen of the operation terminal 20, the operation control unit 21 outputs the traveling start instruction to the work vehicle 10. When the vehicle control device 11 receives the traveling start instruction from the operation terminal 20, it causes the work vehicle 10 to start automatic traveling. As a result, the work vehicle 10 starts automatic traveling in the field F from the traveling start position S according to the target route R (see FIG. 3). Furthermore, once the work vehicle 10 starts automatic traveling, it begins planting seedlings along the work route.

[0112] In step S13, the vehicle control device 11 determines whether there is a shortage of materials (seedlings) remaining on the work vehicle 10. Specifically, the vehicle control device 11 determines whether there is a shortage of seedlings based on whether the remaining amount of seedlings loaded on the work vehicle 10 has fallen below a predetermined amount, or whether the consumption (supply) amount of seedlings has exceeded a predetermined amount. The vehicle control device 11 may also determine whether there is a shortage of seedlings based on, for example, whether there are currently enough seedlings to make one round trip of the work route remaining. For example, if there are currently enough seedlings to make one round trip of the work route remaining, the vehicle control device 11 determines that there is no shortage of seedlings because planting work can continue for at least two work routes. On the other hand, if there are currently not enough seedlings to make one round trip of the work route remaining, the vehicle control device 11 determines that there is a shortage of seedlings because there is a possibility that the seedlings will run out midway through two work routes. The vehicle control device 11 may also determine whether there is a shortage of seedlings by calculating the consumption amount per unit length of the work route on which work has been completed (the route already traveled), and calculating the consumption amount of materials for the work route on which work will be performed next (the work route of the next step) based on the consumption amount per unit length. If the vehicle control device 11 determines that there is a shortage of seedlings (S13: Yes), it proceeds to step S14. On the other hand, if the vehicle control device 11 determines that there is no shortage of seedlings (S13: No), it proceeds to step S25.

[0113] In step S14, the vehicle control device 11 determines whether the position of the start edge set in the operation terminal 20 is on the traveling direction side of the travel route on which the work vehicle 10 is currently traveling. For example, as shown in FIG. 5, when the work vehicle 10 is traveling on work route Ra1, the start edge (lower edge L1) is located opposite the traveling direction, and the vehicle control device 11 determines that the position of the start edge is not on the traveling direction side (S14: No). In contrast, as shown in FIG. 6, when the work vehicle 10 is traveling on work route Ra2, the start edge (lower edge L1) is located on the traveling direction side, and the vehicle control device 11 determines that the position of the start edge is on the traveling direction side (S14: Yes). If the vehicle control device 11 determines that the position of the start edge is on the traveling direction side (S14: Yes), it proceeds to step S15, and if it determines that the position of the start edge is not on the traveling direction side (S14: No), it proceeds to step S25.

[0114] In step S15, the vehicle control device 11 sets a supply preparation point P1 and a supply position P2. Specifically, the vehicle control device 11 sets the end of the current travel route as the supply preparation point P1. The vehicle control device 11 also sets a supply position P2 on an extension of the current travel route in the outer periphery of the field F. In the example shown in FIG. 6, the vehicle control device 11 sets the end of the current work route Ra2 as the supply preparation point P1, and sets the supply position P2 on an extension of the work route Ra2 at the bottom side L1.

[0115] In step S16, the vehicle control device 11 determines whether the work vehicle 10 has reached the supply preparation point P1. When the work vehicle 10 has reached the supply preparation point P1 (S16: Yes), the vehicle control device 11 transitions the processing to step S17. The vehicle control device 11 continues automatic travel and planting work on the work route Ra2 until the work vehicle 10 reaches the supply preparation point P1 (S16: No).

[0116] In step S17, the vehicle control device 11 stops the automatic traveling of the work vehicle 10. As a result, the work vehicle 10 stops at the supply preparation point P1 and suspends the planting work.

[0117] In step S18, the vehicle control device 11 determines whether or not a driving operation by the operator has been accepted. For example, the operator goes to the location where the work vehicle 10 is parked and performs driving operation using the operation remote control. When the vehicle control device 11 accepts a driving operation by the operator (S18: Yes), the process proceeds to step S19. The vehicle control device 11 waits until a driving operation by the operator has been accepted (S18: No).

[0118] In step S19, the vehicle control device 11 manually drives the work vehicle 10. For example, in response to manual steering by the operator, the vehicle control device 11 drives the work vehicle 10 along a supply route Rh connecting the supply preparation point P1 and the supply position P2.

[0119] In another embodiment, the vehicle control device 11 may automatically drive the work vehicle 10 along the replenishment route Rh. In this case, the vehicle control device 11 may stop the work vehicle 10 at the replenishment preparation point P1. In this case, the vehicle control device 11 may omit the process of setting the replenishment preparation point P1.

[0120] In step S20, the vehicle control device 11 determines whether the work vehicle 10 has reached the supply position P2. When the work vehicle 10 has reached the supply position P2 (S20: Yes), the vehicle control device 11 transitions the processing to step S21. The vehicle control device 11 continues manual traveling on the supply route Rh until the work vehicle 10 reaches the supply position P2 (S20: No).

[0121] In step S21, the vehicle control device 11 executes the supply work. The vehicle control device 11 executes processing according to the supply work by the operator. For example, the vehicle control device 11 updates the remaining amount of seedlings loaded on the work vehicle 10.

[0122] In step S22, the vehicle control device 11 determines whether the refueling work has been completed. When the operator performs an operation to end the refueling work, the vehicle control device 11 determines that the refueling work has been completed. When the vehicle control device 11 determines that the refueling work has been completed (S22: Yes), it transitions the processing to step S23. The vehicle control device 11 continues the processing until the refueling work has been completed (S22: No). The vehicle control device 11 may determine that the refueling work has been completed when it receives an operation to end the refueling work from the operator, or may determine that the refueling work has been completed based on the detection results of a sensor that detects the refueling amount or remaining amount.

[0123] In step S23, the vehicle control device 11 moves the work vehicle 10 to the next work route Ra3 (see FIG. 6). The vehicle control device 11 may move the work vehicle 10 to the next work route Ra3 in accordance with manual steering by the operator, or may automatically travel the route from the supply position P2 to the start of the work route Ra3. In another embodiment, the vehicle control device 11 may move the work vehicle 10 to the position on the work route Ra2 where planting work was interrupted.

[0124] In step S24, the vehicle control device 11 causes the work vehicle 10 to resume automatic traveling and planting work. For example, the vehicle control device 11 causes the work vehicle 10 to resume automatic traveling and planting work from the start of the work route Ra3.

[0125] In step S25, the vehicle control device 11 determines whether the work vehicle 10 has reached the travel end position G (see FIG. 3) in the field F. If the vehicle control device 11 determines that the work vehicle 10 has reached the travel end position G (S25: Yes), it ends the automatic travel processing. On the other hand, if the vehicle control device 11 determines that the work vehicle 10 has not reached the travel end position G (S25: No), it transitions the processing to step S13 and executes the above-mentioned processing again. The vehicle control device 11 repeatedly executes the processing of steps S13 to S24 until the work vehicle 10 reaches the travel end position G.

[0126] As described above, the vehicle control device 11 of this embodiment automatically drives the work vehicle 10 in the field F according to the target route R, performs the work of supplying materials loaded on the work vehicle 10 to the field F while the work vehicle 10 is automatically driving, acquires detection results from the material detection unit 171 which detects at least one of the remaining amount of materials in the work vehicle 10 and the consumed amount of materials, and sets a supply position to supply the materials to the work vehicle 10 based on the detection results, the starting position set for the field F at which driving or work will begin, and the traveling direction of the driving route on which the work vehicle 10 is currently driving.

[0127] According to the above configuration, for example, if the work vehicle 10 detects a shortage of materials while autonomously traveling, and the current direction of travel is toward the start edge (bottom edge L1) corresponding to the teaching travel start position S0, the supply position can be set to the start edge and supply work can be performed. In this way, the supply position can be set to an appropriate position in real time depending on the current material status of the work vehicle 10. This eliminates the need for the operator to set the supply position and improves the work efficiency of the supply work.

[0128] [Other embodiments] The embodiments of the present invention are not limited to the above-described embodiments, and may be the following embodiments.

[0129] In another embodiment of the present invention, the vehicle control device 11 may set the replenishment position P2 at a position a predetermined distance away from the replenishment preparation point P1. The predetermined distance may also be set according to a setting operation by the operator within a range from a lower limit distance to an upper limit distance. This allows the operator to set the replenishment location at a position a desired distance away from the replenishment preparation point P1 (the end of the work route), making it possible to set the replenishment location at any position depending on, for example, the shape of the field F.

[0130] [Cancel function] In another embodiment of the present invention, the automated driving system 1 may be provided with a cancellation function that cancels the set supply position P2. Specifically, the operation control unit 21 may be configured to be able to accept a cancellation operation from the operator to cancel the set supply position P2. For example, as shown in FIG. 12 , the operation control unit 21 accepts the cancellation operation when the operator presses the cancel button K1 on the operation terminal 20 (operation remote control). For example, the operation terminal 20 is mounted on the work vehicle 10, and the operator on board the work vehicle 10 operates the operation terminal 20. When the operation control unit 21 accepts a cancellation operation for the supply position P2 from the operator, the vehicle control device 11 (travel processing unit 111) causes the work vehicle 10 to travel toward the next work route when the work vehicle 10 reaches the end of the travel route on which it is currently traveling.

[0131] For example, in the example shown in FIG. 6, when the work vehicle 10 travels along the work route Ra2 toward the bottom side L1, the vehicle control device 11 (setting processing unit 114) sets a supply position P2 at the bottom side L1. If the operator performs a cancel operation to cancel the supply position P2 after the supply position P2 has been set, the operation control unit 21 accepts the cancel operation and outputs a cancel instruction to the work vehicle 10. When the vehicle control device 11 receives the cancel instruction from the operation terminal 20, it deletes the supply position P2 set at the bottom side L1 and causes the work vehicle 10 to automatically travel from the work route Ra2 toward the next work route Ra3. As a result, the work vehicle 10 skips the supply work at the supply position P2 and continues automatic travel and work.

[0132] The operation control unit 21 may be capable of receiving the cancel operation from the operator each time a supply position P2 is set. For example, if a supply position P2 is set at the lower side L1 when the work vehicle 10 is traveling along the work route Ra4 toward the lower side L1, the operation control unit 21 may again receive a cancel operation for the supply position P2 from the operator. Note that the cancel function is not limited to a function for canceling the set supply position P2, and may also be a function for canceling the supply work. The operation control unit 21 may be capable of receiving a cancel operation for the supply work from the operator each time a supply position P2 is set.

[0133] [Set specific supply location] In another embodiment of the present invention, the automated driving system 1 may set a supply position P3 (an example of a specific supply position of the present invention) at a specific position within the field F. For example, when registering a work area ("Work area registration" in FIG. 7), if the operator selects any position on the start edge (see FIG. 9) registered when registering the field, the operation control unit 21 (or the vehicle control device 11) sets the selected position as the supply position P3. Furthermore, when the operator selects any position within the field F, the operation control unit 21 may set the selected position as the supply position P3.

[0134] Furthermore, the operation control unit 21 (or vehicle control device 11) may set the automatic traveling start position to the replenishment position P3. The automatic traveling start position is a position different from the traveling start position S (see FIG. 3), which is the work start position, and is the position at which the automatic traveling of the work vehicle 10 starts. When the work vehicle 10 starts automatic traveling at the automatic traveling start position, it automatically travels from the automatic traveling start position to the work start position (traveling start position S in FIG. 3) and starts work from the work start position. For example, the operation control unit 21 sets the vehicle position (current position) at the time the work vehicle 10 receives an instruction to start automatic traveling to the replenishment position P3. Furthermore, when the operator sets any position within the field F as the automatic traveling start position, the operation control unit 21 may set the set automatic traveling start position to the replenishment position P3.

[0135] Furthermore, the operation control unit 21 (or vehicle control device 11) may set the work end position (travel end position G in FIG. 3) as the supply position P3. For example, when the operator sets any position within the field F as the work end position, the operation control unit 21 may set the set work end position as the supply position P3. Furthermore, the operation control unit 21 may set the work end position based on the generated target route R, and set the set work end position as the supply position P3.

[0136] 13 shows a specific example of the supply position P3. When the supply position P3 is set, the vehicle control device 11 generates a supply route Rg that connects the supply preparation point P1 (the end of the work route Ra2) and the supply position P3.

[0137] In another embodiment, the operation control unit 21 may be capable of switching between causing the work vehicle 10 to travel to replenishment position P2 and replenishment position P3. In other words, the location where replenishment work is performed may be switchable. Specifically, the operation control unit 21 may be configured to be able to accept an operation from the operator to select replenishment position P2 or replenishment position P3. For example, as shown in FIG. 12 , when the operator presses the replenishment location switching button K2 on the operation terminal 20, the operation control unit 21 accepts an operation to change the replenishment position P2 to the replenishment position P3. In another embodiment, the operation terminal 20 may be provided with separate selection buttons for selecting the replenishment position P2 and for selecting the replenishment position P3.

[0138] For example, based on the conditions on the periphery of field F (conditions such as roads, irrigation channels, and other obstacles outside field F), the operator selects whether to drive the work vehicle 10 to a supply position P2 set on an extension of the travel route, or to a supply position P3 set in advance in field F. If supply position P2 is selected, the travel processing unit 111 automatically drives the work vehicle 10 to supply position P2 along supply route Rh, and if supply position P3 is selected, the travel processing unit 111 automatically drives the work vehicle 10 to supply position P3 along supply route Rg.

[0139] Furthermore, when the work vehicle 10 is performing material supply work at supply position P2 and the supply work is completed, the driving processing unit 111 automatically drives the work vehicle 10 from supply position P2 to the next work route Ra3. Furthermore, when the work vehicle 10 is performing material supply work at supply position P3 and the supply work is completed, the driving processing unit 111 automatically drives the work vehicle 10 from supply position P3 to the next work route Ra3. Note that if supply position P3 is set as the work end position, the driving processing unit 111 ends the automatic driving of the work vehicle 10 or moves the work vehicle 10 to the next field after the supply work is completed at supply position P3.

[0140] The operator may also be able to select replenishment location P2 or replenishment location P3 for each replenishment task. For example, the operator may select replenishment location P2 when replenishment task is first required after the work vehicle 10 starts work, and the operator may select replenishment location P3 when replenishment task is next required.

[0141] In the above embodiment, a rice transplanter is used as an example of the work vehicle 10, but in other embodiments, the work vehicle 10 may be a spreader, a fertilizer applicator, a seed sower, etc. For example, if the work vehicle 10 is a spreader, the material is a spray material (water, chemical solution), and the vehicle control device 11 detects the remaining amount and consumed amount of the spray material and determines whether replenishment work is required.

[0142] In the above-described embodiment, the work vehicle 10 alone corresponds to the automated driving system according to the present invention, but the automated driving system according to the present invention may be configured with the operation terminal 20 alone, or may be configured to include the work vehicle 10 and the operation terminal 20. Furthermore, the functions of the vehicle control device 11 and the operation control unit 21 may be included in a server.

[0143] [Notes on the Invention] The following is a summary of the invention extracted from the embodiments. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0144] <Appendix 1> automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; acquiring a detection result from a detection unit that detects at least one of the remaining amount of the material and the consumed amount of the material in the work vehicle; setting a supply position for supplying the materials to the work vehicle based on the detection result, a start position for starting travel or work that is set for the work area, and a traveling direction of the work vehicle on a first travel route that the work vehicle is currently traveling; An automated driving method that performs the above.

[0145] <Appendix 2> determining, based on the detection result, that the materials remaining in the work vehicle are insufficient, and if the start position is on the side in the traveling direction, setting the supply position at a position on the side in the traveling direction in the work area; 1. The automated driving method according to claim 1.

[0146] <Appendix 3> determining, based on the detection result, that the materials remaining in the work vehicle are insufficient, and when the start position is on the side of the traveling direction, causing the work vehicle to travel from the first travel path to the replenishment position; 10. The automated driving method according to claim 1 or 2.

[0147] <Appendix 4> stopping the work vehicle at the end of the first travel path, and causing the work vehicle to travel from the end to the replenishment position in response to a manual operation by a user; 1. The automated driving method described in Appendix 3.

[0148] <Appendix 5> generating a supply route from an end of the first travel route to the supply position, and automatically driving the work vehicle along the supply route; 5. The automated driving method according to claim 3 or 4.

[0149] <Appendix 6> The supply position is set at a position a predetermined distance away from the end of the first travel path. 6. The automatic driving method according to any one of appendices 3 to 5.

[0150] <Appendix 7> The predetermined distance is set in accordance with a setting operation by a user within a range from a lower limit distance to an upper limit distance. 6. The automated driving method according to claim 6.

[0151] <Appendix 8> When it is predicted that the materials will be insufficient on one or more travel routes following the first travel route while the work vehicle is traveling on the first travel route, and when the start position is on the traveling direction side of the first travel route on which the work vehicle is currently traveling, a position on the traveling direction side in the working area is set as the supply position, and the work vehicle is caused to travel to the supply position. An automatic driving method according to any one of appendices 1 to 7.

[0152] <Appendix 9> The supply position is set on an extension of the first travel path in the outer periphery of the working area. An automatic driving method according to any one of appendices 1 to 8.

[0153] <Appendix 10> The start position is a travel start position when the work vehicle is made to travel along the periphery of the work area during teaching in the work of registering the work area, a start position of automatic travel that is set in advance for the work area, or a start position of work that is set in advance for the work area. An automatic driving method according to any one of appendices 1 to 9.

[0154] <Appendix 11> A cancel operation for canceling the set supply position can be accepted, When the cancel operation is accepted, the work vehicle is caused to travel toward a travel route subsequent to the first travel route. An automatic driving method according to any one of appendices 1 to 10.

[0155] <Appendix 12> A specific supply position is set in advance at an arbitrary position within the work area, The work vehicle can be switched between traveling to the replenishment position and traveling to the specific replenishment position. An automatic driving method according to any one of appendices 1 to 11.

[0156] <Appendix 13> When the work vehicle is performing a supply operation of the material at the supply position and the supply operation is completed, the work vehicle is automatically driven from the supply position to a next travel route; When the work vehicle performs a supply operation of the material at the specific supply position and the supply operation is completed, the work vehicle is automatically driven from the specific supply position to a next travel route. 13. The automated driving method according to claim 12. [Explanation of symbols]

[0157] 1:Automated driving system 10: Work vehicle 11: Vehicle control device 12: Storage section 13: Body 14: Work equipment 15: Communications Department 16: Positioning unit 17: Obstacle detection unit 171: Material detection unit 19: Spare seedling stand 35: Seedling stand 20: Operation terminal 21: Operation control section 22: Storage section 23: Operation display section 24: Communications Department 111: Driving processing unit 112: Work processing unit 113: Acquisition processing unit 114: Setting processing section 211: Setting processing section 212: Output processing section D1: Menu screen D2: Field measurement screen D3: Field registration screen F: Field (working area) S: Travel start position G: End position of travel L1: bottom edge N1: Communication network P1: Supply preparation point P2: Supply position P3: Supply position (specific supply position) R: Target route Ra1: Work route (first travel route) Ra2: Work route (first travel route) Rh: Resupply route Rt: Teaching travel path S0: Teaching travel start position

Claims

1. automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; acquiring a detection result from a detection unit that detects at least one of the remaining amount of the material and the consumed amount of the material in the work vehicle; setting a supply position for supplying the materials to the work vehicle based on the detection result, a start position for starting travel or work that is set for the work area, and a traveling direction of the work vehicle on a first travel route that the work vehicle is currently traveling; An automated driving method that performs the above.

2. determining, based on the detection result, that the materials remaining in the work vehicle are insufficient, and if the start position is on the side in the traveling direction, setting the supply position at a position on the side in the traveling direction in the work area; The automatic driving method according to claim 1 .

3. determining, based on the detection result, that the materials remaining in the work vehicle are insufficient, and when the start position is on the side of the traveling direction, causing the work vehicle to travel from the first travel path to the replenishment position; The automatic driving method according to claim 1 .

4. stopping the work vehicle at the end of the first travel path, and causing the work vehicle to travel from the end to the replenishment position in response to a manual operation by a user; The automatic driving method according to claim 3.

5. generating a supply route from an end of the first travel route to the supply position, and automatically driving the work vehicle along the supply route; The automatic driving method according to claim 3.

6. The supply position is set at a position a predetermined distance away from the end of the first travel path. The automatic driving method according to any one of claims 3 to 5.

7. The predetermined distance is set in accordance with a setting operation by a user within a range from a lower limit distance to an upper limit distance. The automatic driving method according to claim 6.

8. When it is predicted that the materials will be insufficient on one or more travel routes following the first travel route while the work vehicle is traveling on the first travel route, and when the start position is on the traveling direction side of the first travel route on which the work vehicle is currently traveling, a position on the traveling direction side in the work area is set as the supply position, and the work vehicle is caused to travel to the supply position. The automatic driving method according to claim 1 .

9. the supply position is set on an extension of the first travel path in the outer periphery of the working area. The automatic driving method according to claim 1 .

10. The start position is a travel start position when the work vehicle is made to travel along the periphery of the work area during teaching in the work of registering the work area, a start position of automatic travel that is set in advance for the work area, or a start position of work that is set in advance for the work area. The automatic driving method according to claim 1 .

11. A cancel operation for canceling the set supply position can be accepted, When the cancel operation is accepted, the work vehicle is caused to travel toward a travel route next to the first travel route. The automatic driving method according to claim 1 .

12. a specific supply position is set in advance at a specific position within the work area; The work vehicle can be switched between traveling to the replenishment position and traveling to the specific replenishment position. The automatic driving method according to claim 1 .

13. When the work vehicle is performing a supply operation of the material at the supply position and the supply operation is completed, the work vehicle is automatically driven from the supply position to a next travel route; When the work vehicle performs a supply operation of the material at the specific supply position and the supply operation is completed, the work vehicle is automatically driven from the specific supply position to a next travel route. The automatic driving method according to claim 12.

14. 1. A supply position setting method for setting a supply position for supplying materials to a work vehicle that supplies materials to a work area while automatically traveling along a target route in the work area, the method comprising: acquiring a travel start position when teaching the work vehicle to travel along the periphery of the work area in the work of registering the work area; setting a perimeter that corresponds to the travel start position among the perimeters that form the working area as the supply position; A supply position setting method for performing the above.

15. automatically driving a work vehicle along a target route in a work area; Executing an operation of supplying materials loaded on the work vehicle to the work area during automatic traveling; acquiring a detection result from a detection unit that detects at least one of the remaining amount of the material and the consumed amount of the material in the work vehicle; setting a supply position for supplying the materials to the work vehicle based on the detection result, a start position for starting travel or work that is set for the work area, and a traveling direction of the work vehicle on a first travel route that the work vehicle is currently traveling; An automated driving program for executing the above on one or more processors.

16. a driving processing unit that automatically drives a work vehicle along a target route in a work area; a work processing unit that executes a work of supplying materials loaded on the work vehicle to the work area during automatic traveling; an acquisition processing unit that acquires a detection result from a detection unit that detects at least one of the remaining amount of the material and the consumed amount of the material in the work vehicle; a setting processing unit that sets a supply position for supplying the materials to the work vehicle based on the detection result, a start position for starting travel or work that is set for the work area, and a traveling direction of the work vehicle on a first travel route that the work vehicle is currently traveling; An autonomous driving system equipped with

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